CN100513062C - Parallel mechanism with four degrees of freedom - Google Patents
Parallel mechanism with four degrees of freedom Download PDFInfo
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- CN100513062C CN100513062C CNB2006101510789A CN200610151078A CN100513062C CN 100513062 C CN100513062 C CN 100513062C CN B2006101510789 A CNB2006101510789 A CN B2006101510789A CN 200610151078 A CN200610151078 A CN 200610151078A CN 100513062 C CN100513062 C CN 100513062C
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- shrinking connecting
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Abstract
A 4-freedom parallel mechanism with simple structure and low cost is composed of a fixed platform, a movable platform, and 4 telescopic connecting rods with top ends pivoted to said fixed platform. The lower ends of the first and second telescopic connecting rods are linked with said movable platform via rotation sets. The lower ends of the third and fourth connecting rods are pivoted with movable platform. It is suitable for the machine-tool.
Description
Technical field
The present invention relates to the four-freedom parallel mechanism that a kind of parallel machine is used.
Background technology
In recent ten years, parallel machine is the hot subject that domestic and international Digit Control Machine Tool research field is paid special attention to.Parallel machine claims virtual-shaft machine tool again, is knowledge-intensive, intellect-intensive, technology-intensive electromechanical integration high-tech product, is the intersection of multidisciplinary application technologies such as parallel robot, numerical controlled machinery, computer control, accurate measurement, digital control processing.Scholar both domestic and external has dropped into number of research projects to it.
Overview from domestic and international parallel machine product and technical development concentrates in the research of six-degree-of-freedom parallel connection mechanism a few years ago mostly.In the last few years, the lower-mobility parallel institution has obtained people and has more and more paid attention to, but concentrate on mostly in the research of 3-freedom parallel mechanism, for four, the research of five-freedom parallel structure is then less, cause can be used as parallel machine four, the configuration of five-freedom parallel structure seldom.Present parallel machine product both domestic and external adopts the Stewart six-degree-of-freedom parallel connection mechanism to realize 5-axis movement mostly, its complex structure, the volume ratio of working space and mechanism is less, and has increased manufacturing cost because of driving and the transmission device of having wasted an axle.
Summary of the invention
The purpose of this invention is to provide a kind of four-freedom parallel mechanism, it can solve present six-degree-of-freedom parallel connection mechanism and have complex structure, and the volume ratio of working space and mechanism is less, the problem that manufacturing cost is high.
The present invention includes fixed platform and motion platform; The present invention also comprises four shrinking connecting-rods; The upper end of first shrinking connecting-rod in described four shrinking connecting-rods and the upper end of second shrinking connecting-rod are hinged by each self-corresponding first Hooke's hinge and fixed platform respectively, the one-level revolute pair axis of described two first Hooke's hinges (5) is parallel with Y-axis, the secondary revolute pair axis of described two first Hooke's hinges is parallel with X-axis, X-axis and Y-axis are orthogonal, the upper end of the 3rd shrinking connecting-rod in described four shrinking connecting-rods and the upper end of the 4th shrinking connecting-rod are hinged by each self-corresponding second Hooke's hinge and fixed platform respectively, first shrinking connecting-rod in four shrinking connecting-rods and the lower end of second shrinking connecting-rod are connected with motion platform by each self-corresponding revolute pair respectively, and the lower end of the 3rd shrinking connecting-rod in described four shrinking connecting-rods and the lower end of the 4th shrinking connecting-rod are hinged by each self-corresponding ball pivot and motion platform respectively.
The present invention has following beneficial effect: one, four-freedom parallel mechanism of the present invention is compared with traditional tandem multiaxis mechanism, has rigidity, precision and dynamic property preferably, and simple in structure.Two, four-freedom parallel mechanism of the present invention is compared with existing six-degree-of-freedom parallel connection mechanism, simple in structure, low cost of manufacture.Three, but the three-dimensional of the motion platform implementation space of four-freedom parallel mechanism of the present invention moves and the one dimension rotation, at the rotational freedom of connecting on the motion platform or on the workbench, can the implementation space three-dimensional move the five degree of freedom motion of rotating with bidimensional, can substitute traditional tandem gang tool and six-degree-of-freedom parallel bed fully and realize processing operation, and provide a kind of new version for the theory and the application study of lower-mobility parallel institution the spatial complex curved surface part.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1 present embodiment is described, present embodiment is made up of fixed platform 1, motion platform 2 and four shrinking connecting-rods 3; The upper end of described four shrinking connecting-rods 3 is hinged with fixed platform 1 respectively, first shrinking connecting-rod 3-1 in four shrinking connecting-rods 3 and the lower end of the second shrinking connecting-rod 3-2 are connected with motion platform 2 by each self-corresponding revolute pair 4 respectively, and the 3rd shrinking connecting-rod 3-3 in four shrinking connecting-rods 3 and the lower end of the 4th shrinking connecting-rod 3-4 are hinged with motion platform 2 respectively.
The specific embodiment two: present embodiment is described in conjunction with Fig. 1, the upper end of the first shrinking connecting-rod 3-1 of present embodiment and the upper end of the second shrinking connecting-rod 3-2 are hinged with fixed platform 1 by each self-corresponding first Hooke's hinge 5 respectively, the one-level revolute pair axis 6 of described two first Hooke's hinges 5 is parallel with Y-axis, the secondary revolute pair axis 7 of described two first Hooke's hinges 5 is parallel with X-axis, X-axis and Y-axis are orthogonal, (foundation of coordinate system is: Y-axis is parallel with one-level revolute pair axis 6 directions of two first Hooke's hinges 5, X-axis is in the plane of fixed platform 1, the Z axle is vertical with Y-axis with X-axis respectively), the upper end of the upper end of described the 3rd shrinking connecting-rod 3-3 and the 4th shrinking connecting-rod 3-4 is hinged with fixed platform 1 by each self-corresponding second Hooke's hinge 8 respectively, the lower end of the lower end of described the 3rd shrinking connecting-rod 3-3 and the 4th shrinking connecting-rod 3-4 is hinged with motion platform 2 by each self-corresponding ball pivot 9 respectively, and the axis of described two revolute pairs 4 is parallel with X-axis respectively.So be provided with, can realize motion platform 2 along X-axis, Y-axis, Z axle move and around the rotation of X-axis.
Claims (2)
1, a kind of four-freedom parallel mechanism, its composition comprise fixed platform (1) and motion platform (2); It is characterized in that it also comprises four shrinking connecting-rods (3); The upper end of first shrinking connecting-rod (3-1) in described four shrinking connecting-rods (3) and the upper end of second shrinking connecting-rod (3-2) are hinged by each self-corresponding first Hooke's hinge (5) and fixed platform (1) respectively, the one-level revolute pair axis (6) of described two first Hooke's hinges (5) is parallel with Y-axis, the secondary revolute pair axis (7) of described two first Hooke's hinges (5) is parallel with X-axis, X-axis and Y-axis are orthogonal, the upper end of the 3rd shrinking connecting-rod (3-3) in described four shrinking connecting-rods (3) and the upper end of the 4th shrinking connecting-rod (3-4) are hinged by each self-corresponding second Hooke's hinge (8) and fixed platform (1) respectively, first shrinking connecting-rod (3-1) in four shrinking connecting-rods (3) is connected with motion platform (2) by each self-corresponding revolute pair (4) respectively with the lower end of second shrinking connecting-rod (3-2), and the lower end of the 3rd shrinking connecting-rod (3-3) in described four shrinking connecting-rods (3) and the lower end of the 4th shrinking connecting-rod (3-4) are hinged by each self-corresponding ball pivot (9) and motion platform (2) respectively.
2, a kind of four-freedom parallel mechanism according to claim 1 is characterized in that the axis of described two revolute pairs (4) is parallel with X-axis respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101510789A CN100513062C (en) | 2006-11-29 | 2006-11-29 | Parallel mechanism with four degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101510789A CN100513062C (en) | 2006-11-29 | 2006-11-29 | Parallel mechanism with four degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1958228A CN1958228A (en) | 2007-05-09 |
| CN100513062C true CN100513062C (en) | 2009-07-15 |
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ID=38070159
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101510789A Expired - Fee Related CN100513062C (en) | 2006-11-29 | 2006-11-29 | Parallel mechanism with four degrees of freedom |
Country Status (1)
| Country | Link |
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| CN (1) | CN100513062C (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101493307B (en) * | 2009-01-16 | 2012-12-26 | 山东科技大学 | Parallel type five-coordinate measuring machine mechanism |
| CN101513736B (en) * | 2009-03-26 | 2010-11-24 | 浙江大学 | Nonsingularity space five- freedom-degree parallel robot |
| CN103600348B (en) * | 2013-11-25 | 2016-01-27 | 燕山大学 | A kind of four branches are without junction point two degrees of freedom one-rotation parallel mechanism |
| CN105999587B (en) * | 2016-06-28 | 2019-05-14 | 新疆博新智航航空科技有限责任公司 | A kind of power high voltage overhead transmission line fire attack unmanned plane |
| CN106002927B (en) * | 2016-07-14 | 2018-07-17 | 吕志超 | A kind of construction transportation industrial robot based on redundancy four-degree-of-freedom |
| CN106272358B (en) * | 2016-09-30 | 2019-03-22 | 中国地质大学（武汉） | A kind of four-freedom parallel connection robot mechanism |
| CN106426105B (en) * | 2016-11-10 | 2019-09-17 | 中国地质大学（武汉） | A kind of 2R two-degree-of-freedom parallel mechanism promoting load capacity |
| CN108656086B (en) * | 2018-06-04 | 2020-04-07 | 北京交通大学 | Variable working space redundancy drive 4UPU-R parallel mechanism |
-
2006
- 2006-11-29 CN CNB2006101510789A patent/CN100513062C/en not_active Expired - Fee Related
Non-Patent Citations (2)
| Title |
|---|
| 新型三平移一转动并联机构及运动学分析. 马晓丽，马履中，汪建平.中国机械工程，第17卷第2期. 2006 |
| 新型三平移一转动并联机构及运动学分析. 马晓丽，马履中，汪建平.中国机械工程，第17卷第2期. 2006 * |
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| Publication number | Publication date |
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| CN1958228A (en) | 2007-05-09 |
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Granted publication date: 20090715 Termination date: 20091229 |